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Questions tagged [gazebo-sensor]

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Implement a new custom sensor in gazebo ignition

I'm trying to implement a new custom sensor in gazebo ignition, more specifically I want to implement a light sensor that will simply output a light value based on the distance between the sensor and ...
Paolo's user avatar
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24 views

Migrating a Gazebo Classic plugin library from ROS1 to ROS2

I am developing an underwater vehicle using ROS2 and I am building a simulator using Gazebo classic. I need UUV specific sensors including DVLs and depth sensors. I have been unable to find compiled ...
Gideon's user avatar
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Can't measure torque with ft sensor

I am simulating in Gazebo-classic (Gazebo 11) a simple scenario with a single link (a box) linked to the world with a revolute joint having axis along z. I followed the force-torque sensor tutorial ...
Stefano Colli's user avatar
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1 answer
31 views

IMU Sensor not working when enabling lockstep in Gazebo 11

I have a robot with an IMU sensor (using libgazebo_ros_imu_sensor.so). When I Gazebo, it generates IMU messages on the appropriate topic. I'm trying to do visual-inertial odometry, so I need the IMU ...
BillThePlatypus's user avatar
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`gazebo_ros_ft_sensor plugin error: jointName: FT_sensor does not exist` on GEN3-KINOVA arm

Here is my urdf.xacro file (original gen3 urdf.xacro found here): ...
Mahrukh azhar's user avatar
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1 answer
44 views

Where can I find the list of SDF tags that can be used for a particular sensor in Gazebo Garden?

From the tutorial of gazebo garden here, ...
Bayu Kanugrahan Luknanto's user avatar
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1 answer
85 views

How to create an orthographic camera sensor in gazebo fortress?

I'm trying to create an orthographic camera sensor for my robot model and have trouble specifying the sensor in a way that I know the px/mm dimensions of the resulting images. E.g. I want a camera ...
rtur's user avatar
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2 answers
133 views

How to dynamically set a topic publication for a model sensor?

I've got a Gazebo model defined in a SDF file that I spawn in my world with ros_gz_sim create, with the -name argument. This allows me to spawn several models based on the same SDF file. Now I added a ...
SebL's user avatar
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0 answers
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Unwanted "noise" using the sensor plugin libgazebo_ros_ft_sensor.so

When trying to use the library libgazebo_ros_ft_sensor.so for a F/T-sensor plugin there is a strange repeating pattern of "noise" on the topic when the robot is just being gravity ...
JonasMJ's user avatar
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1 answer
7 views

Read sensor data with ROS

I've just started to learn ROS and Gazebo and now, finally, I can connect ROS with Gazebo (I control a robot in Gazebo with keyboard using turtlesim turtle_teleop_key. Now I want to add some sensors ...
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1 answer
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Warning when following sensor noise model tutorial: [Wrn] [msgs.cc:1808] Conversion of sensor type[imu] not suppported

I am using Gazebo version : 7.13.1 Link to tutorial : http://gazebosim.org/tutorials?tut=sensor_noise&cat=sensors#IMUnoise Originally posted by pk on Gazebo Answers with karma: 11 on 2018-06-19 ...
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1 answer
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How to call gazebo_msg/GetLinkState service for a sensor mounted on a robot?

Hi all, I have the following problem: To make my own robot in gazebo (a diff-drive with a laser and a kinect) I wrote the following urdf: https://github.com/...
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1 answer
35 views

how to read images from a camera in the Gazebo?

hi, everyone, I have the same problem with this http://answers.gazebosim.org/question/16214/how-to-get-image-without-storing-into-disk-from-gazebo/?answer=16977#post-id-16977, I want to read the ...
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1 answer
2 views

Ptr in function parameter[in]

Beginner Tutorial: Velodyne Sensor ...
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1 answer
3 views

where I can find contact_size() function

In tutorial, there is a set of code shown below: ...
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1 answer
8 views

How to create a joint with sensor programatically?

I'm trying to create a joint from a plugin code that would look as follows: ...
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0 votes
1 answer
13 views

SensorPlugin: how to enforce frame update rate?

The update_rate parameter of the gazebo camera sensor seems to be understood as the upper limit for the frame frequency and does not slow down the simulation time ...
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1 answer
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where is <uri>model://camera</uri>?

I am working on adding 2 camera sensors to my quad, but it uses the same link. Eventhough, I rename the joint. I am thinking of creating another camera model folder and rename the model. However, I do ...
user avatar
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1 answer
2 views

How to properly use get_sensor?

Hi, I have some code which uses get_sensor to get a laser sensor, however when I want to use two of this model, they get muddled up as I can't reference the full model name. sensors::SensorPtr ...
user avatar
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1 answer
5 views

Data corruption from camera sensor

Hi All. I could do with advice on how to investigate what looks like intermittent corrupt data being returned from a camera sensor. I'm accessing the camera image from a model plugin, but when I ...
user avatar
0 votes
1 answer
3 views

Sonar sensor measurements not correct

Hi, If I run Gazebo 5.1.0 from terminal using the sonar_demo.world and it is OK, the range measurements are correct. However, I am launching Gazebo from a ROS launch file with a SDF which contains the ...
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1 answer
4 views

Subscribing to sensor data from model plugin

I'm attempting to subscribe to a sensor's data from a model plugin. Simplified, my model plugin code looks like: ...
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1 answer
53 views

Gazebo crashes on simulating gpu_ray

My situation is the following: I have a working robot model with a head_hokuyo_sensor as laser range finder. When using this model on my default setup, everything ...
user avatar
0 votes
1 answer
5 views

How to simulate shortest Path finder/planner and dynamic obstacle detection in Gazebo

I am a beacholers student choose final year project to be shortest path finder and planner including dynamic obstacle detection (A robotic Car). As i am new to gazebo, looking at some official ...
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0 votes
1 answer
2 views

Is it possible to get the contact point of a laser sensor?

Hi, is there a simple solution for getting the coordinates on which the rays of a sensor hit a target? At the moment I calculate the points myself by using the sensor pose, the start and end angles ...
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1 answer
6 views

[quick question] what is color descption and <format> in SDF?

hi I have quesiton about the tap. The tap is under: <sensor> <image> <format> According to Gazebo Sdf ...
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1 answer
3 views

Bumper or Contact Plugin

Hey everyone, I am trying to implement some contact sensors for my robot model. I use the drcsim package as an orientation for available plugins. I am wondering whether to use the gazebo_ros_bumper or ...
user avatar
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1 answer
1 view

DRCSIM: BDI modes change the hand force/torque sensor behavior

The hand force/torque sensor behaves well until the BDI modes are changed. While in STAND mode the output of the sensor is correct, however, when the mode is changed to MANIPULATE for example, the ...
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1 answer
2 views

DRCSIM: Hand torque sensor - no X output

The X component from the torque sensor of the hand is buggy. Z and Y components of the torque sensor in the wrist are giving an output while X is not. Discovered that only when the joint limits from ...
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0 votes
1 answer
4 views

Tutorial: Controlling a Mobile Robot with its Range Sensor

Hi, I tried to implement the tutorial plugin my_plugin_with_sensor.cc (explained here) in the Pioneer robot I am using in my world model. The simulation is not ...
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1 answer
5 views

DRCSIM: simulated force measurements in wrong coordinates

If I am not mistaken, the current simulated force torque measurements are in the inertial frame (world coordinates), referenced to the center of mass of the foot. For the DRC robot, the simulated ...
user avatar
0 votes
1 answer
1 view

Doubt about ultrasonic and IR sensors

Hi all, I've seen in the SDF format, that there are IR sensors, but when I include one in a model, Gazebo gives me an error (Error [SensorManager.cc:151] Unable to create sensor of type[ir]). How can ...
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1 answer
1 view

How to set path between 2 points and make robot to take sensor data while moving on it?

Hi, I have created a basic world model with cylinders and boxes as obstacles. I am using Pioneer robot. I want to make a path between a start point and an end point (random points in the world) and ...
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1 answer
1 view

Simulated kinect rotation around X [bug?]

Hi, As advised on answers.ros.org, I'm posting my question here. In our robot, the Kinect can be mounted on the side of the arm, as shown in the screenshot below. When running the simulation in Fuerte,...
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1 answer
4 views

The order of collision1~2 objects from contact sensor

From contact sensor, we can get contact objects (gazebo::physics::Contact). The contact object includes followings. ...
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1 answer
7 views

What is the meaning of contacts returned from GetContact (contact sensor)?

When I use Contact sensor in Gazebo 1.3, I am basically using following code. ...
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1 answer
10 views

Is it possible to reduce inertial sensor noise by adjusting gazebo parameters?

We've noticed that the IMU and force-torque sensors are extremely noisy (well beyond expectation for real sensors). I imagine this is likely a result of the normal imperfections of simulating physics ...
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1 answer
1 view

No ealier segments error. Gazebo 1.3

I am implementing gazebo-1.3 ros-plugin for PR2. Now, PR2 moves well, but my contact sensor plugin does not countinuously give collision-rostopic like collision-gztopic. I found following error ...
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1 answer
10 views

Modelling of sensor noise

Hi all, I'm quite used to Gazebo in ROS Electric. In URDF, there is possibility to set desired level of Gaussian noise for laser scanner and IMU, distortion for camera etc. I went through ...
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1 answer
3 views

What is the meaning of <rayCount>, <rangeCount> and <laserCount> for laser sensor XML?

Hi, I am using simulating a laser sensor. However, I have some doubts about the meaning of some tags in the xml description. Even the ROS web page do not provide information on this. Can anyone ...
user avatar
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2 answers
5 views

Contact sensor: 6 axis force/torque sensing

It would be nice to extend the contact sensing tutorial to show how to add up all contact forces on a body to get an aggregate JointWrench (3 forces and 3 torques). This would allow the contact sensor ...
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1 answer
1 view

GpuRaySensor.hh missing in 1.3?

Looks like GpuRaySensor.hh went missing in Gazebo 1.3. I checked out the lastest source from the repo: ...
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2 answers
6 views

How to implement a Force Sensor

Hi All, I am wondering how you would implement a simulated force sensor to measure joint torques if the method physics::joint::GetForce(int) is not implemented. If anyone has done this with Gazebo any ...
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0 votes
1 answer
2 views

Is it possible to distribute sensors over multiple computers?

I would like to simulate a number of robots (up to let's say 10) in real time, each with a significant sensor suite. Is it possible to distribute sensors as slaves to the physics simulation across ...
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0 votes
1 answer
20 views

contact force sensing

It seems that there is a bump/force sensor that works for contact on a link. However, does this scale or is there another implemented sensor that would allow me to get contact forces all over a robot ...
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1 answer
72 views

how to insert a force or torque sensor to gazebo model?

as title thanks a lot Originally posted by lugd1229 on Gazebo Answers with karma: 75 on 2012-11-18 Post score: 3 Original comments Comment by skhan on 2013-04-05: No one is here to answer it =(
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0 votes
1 answer
2 views

Running sensors in simulation

Hi. I am a new user to ROS and have some questions regarding the use of sensors in simulation. I undrstand that in order to simulate a sensors, you need to write the gazebo extension for it in the ...
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1 answer
13 views

sonar sensor Gazebo-ROS

Hello Team, I am using the plugin hector_gazebo_ros_sonar.so of the package hector_gazebo_plugins but the performance is very bad. My problem is describe here: link:here I am looking for another ...
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1 answer
2 views

How to put Hokuyo laser sensor on p2os?

Hi! I'm new at gazebo, and I would like to know how to put a hokuyo sensor on my p2os model. I am not using a real robot, I just want to know how to add a sensor on my simulation. I've tried https://...
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